Harvesting System and Method

The invention generally relates to a harvesting system for harvesting crops that are grown in rows, preferably parallel rows; and a method for harvesting crops that are grown in rows. The invention also relates to a harvesting-cart, to a transport-cart, and/or to a service-cart for use in a harvesting system for harvesting crops grown in rows, preferably parallel rows. Furthermore, the invention can relate to an apparatus and method for harvesting crops, and to a method of providing a harvested crop, and an apparatus for providing a harvested crop.

In agriculture, crop-plants may generally be grown in a series of parallel rows of growth medium. The rows of crops are generally arranged with access lanes therebetween. The access lanes allow access for inspection, care, harvesting, servicing, and other tending of the plants.

In an environment such as a greenhouse, the lanes may be equipped with heat-exchange tubes for controlling the temperature of the greenhouses, for example for provision of heat, but also possibly cooling, and may be paved or unpaved. Crops may also be grown in greenhouses without heat exchanger tubes.

In outdoor agricultural fields, plants may be grown in similar patterns of parallel rows with intermediate access lanes between the rows.

Crop plants that are grown in rows in greenhouses can include fruits (apples, oranges, kiwis, berries of all types, such as raspberries, strawberries, blueberries etc.) and vegetables (tomatoes, cucumbers, peppers, aubergines, root vegetables, broccoli, sweetcorn, squash, salad, peas, cabbages etc.).

Upon maturation or ripening of a crop, the crop must be harvested. Regardless of the indoor or outdoor setting, the selection and picking of ripe crops, especially those growing on vines, has conventionally relied heavily upon manual human labour, resulting in high harvesting costs and other concerns associated with manual harvesting.

For example, the work is arduous, not least because it is often done in greenhouses operating at high temperatures (e.g. 28 degrees Celsius and above) with air compositions (oxygen, carbon dioxide, humidity and nitrogen) that may differ from ambient compositions, in order to advance plant growth. In addition, interaction between manual harvesters and the crops may lead to an increased risk of disease transmission (viral, fungal, bacterial) between plants and even between separate growing areas or greenhouses.

There is thus a desire to improve the harvesting of crops. Attempts to provide improvements have been made previously through the provision of picking devices.

For example, EP3082397B1 discloses a picking apparatus for selectively harvesting crops on a plant, the picking apparatus being rotatable around a central axis. The picking apparatus includes a plurality of grippers each spaced apart and extending radially from the central axis, and each is configured to pick a different individual one of the crops. Each of the plurality of grippers can be configured in a closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis.

EP3498076B1 discloses a machine for automatic harvesting of fruits cultivated in rows, formed by a self-propelled and autonomous vehicle. The machine comprises a pair of parallel rails, a fruit collector assembly with a carriage movably mounted on the pair of parallel rails and a collector robotic arm movably mounted on the carriage for moving transversely with respect to the carriage, a carriage motor for moving the carriage, and a robotic arm motor for moving the robotic arm. The carriage motor and the robotic arm motors are attached to the carriage. The carriage is movable horizontally and the robotic arm is transversally movable with respect to the rails.

WO2020/089768A1 discloses a harvesting system which includes a vertical frame, a plurality of linear robots, a plurality of cameras and a processor. The vertical frame is configured to be positioned opposite a sector to be harvested. The robots are arranged in pairs stacked vertically in the frame, each pair including first and second robots that are configured to move together along a vertical axis, to move independently of one another along a horizontal axis, and have respective first and second robot arms that are configured to approach the sector and harvest fruit. The plurality of cameras is configured to acquire images of the sector. The processor is configured to identify the fruit in the images and control the robots to harvest the fruit.

EP3854202A1 discloses a tube rail cart having a loading floor or loading space and which is provided on at least one of the front sides with a work platform, wherein the tube rail cart is further provided with an automated handling system for automatically supplying empty packaging and removing full packaging between the loading floor or loading space and a work platform, and vice versa, and stacking empty and full packaging on the loading floor or in the loading space without any direct intervention of the user or harvester.

The above cited documents require unloading of the harvested crops from the picking devices to the final storage location. Therefore, there is a general and ongoing need for a harvesting system having improved efficiency of picking and transporting of the crops, and/or inspection, care, servicing, and other tending of crops.

DE102015111650A1 discloses a harvesting system for fruit harvesting, having a picking trolley and a transport trolley.

US2022111913A1 discloses a mobile drive unit and method of operation related to autonomous or automated robotic or automation platforms, which are able to perform automated tasks, more particularly in the field of agriculture, horticulture, etc.

WO2019125134A1 discloses a harvesting vehicle. More particularly, the invention relates to a fruit harvesting vehicle for picking fresh fruit bunches with minimal damage to the fruits and improved manoeuvrability in palm oil plantation which its ground consists of peat soil and uneven terrain.

CN109005923A discloses a fully automatic fruit picking device for picking fruits from trees.

Gains in processing and harvesting of crops remains desirable, preferably providing rapid harvesting, energy efficiency, reduced or minimal manual labour.

According to a first aspect of the invention there is a provided a harvesting system for harvesting crops from plants grown in rows, comprising at least one harvesting-cart, a plurality of transport-carts and a service-cart. In embodiments, the at least one harvesting-cart is arranged to harvest said crops. In embodiments, the harvesting-cart comprises: a detection unit, preferably a camera unit, preferably a visual camera unit, arranged to identify crop items for harvesting. In embodiments, the harvesting-cart comprises a crop picking tool arranged to pick crop items identified by the detection unit. In embodiments, the harvesting-cart preferably has a collection zone arranged to accept a crop-container, said crop-container arranged to receive picked crop items. In embodiments, the harvesting-cart is arranged to be movable along inter-crop lanes defined between said rows of plants. In embodiments, each transport-cart is arranged to be detachably coupled to the at least one harvesting-cart. In embodiments, each transport-cart comprises a holding region for storing a plurality of crop-containers.

In embodiments, the service-cart is arranged to transfer said transport-carts, and preferably said harvesting-cart, to and from said inter-crop lanes. This allows the service-cart to transfer the transport-cart and/or harvesting-cart from one inter-crop lane to another.

The harvesting system according to the present invention may assist in reducing the level of human labour required for picking and harvesting of crops. As a result, the required time and costs of a picking process may be reduced per crop quantity.

In addition, by minimizing the human labour factor, the risk of virus/disease spreading is also reduced due to reduced exposure of the crops to workers moving between plants, crop locations, and/or greenhouses. In preferred embodiments, the harvesting system, or any part thereof may be provided with one or more cleaning or disinfection units. The cleaning or disinfection units may be configured to automatically carry out a cleaning or disinfection step at a predetermined time, for example after a period of harvesting time, after harvesting of each of a given number of rows. Cleaning or disinfection may also be carried out following detection of (suspect) diseased or ill plant material by the detection unit.

The buffer region in the at least one transport-cart improves the efficiency of the collection of crops. In particular, the crops which are harvested by the harvesting-cart may be retrieved by the transport-cart. This reduces the amount of movement required by the harvesting-cart during the harvesting process.

In a preferred embodiment, the transport-cart moves from the service-cart to the harvesting-cart, such that the harvesting-cart does not need to move away from the region where it is harvesting. As a result, the harvesting-cart is allowed to continue harvesting crops without interruption. Further, the transport-cart is arranged to move along the lanes to both load empty containers onto the harvesting-cart and to unload filled containers from the harvesting-cart. As such, the capacity needed to continue the harvesting process is provided by the transport-cart to the harvesting-cart.

The system and method according to embodiments disclosed herein can be used in a crop-growing field, wherein crops are grown in multiple rows. Between two rows of crops, inter-crop lanes are available. Multiple inter-crop lanes are available. The inter-crop lanes can be lanes extending generally parallel to each other. At an end of the inter-crop lanes a connecting main lane can extend generally perpendicular to the inter-crop lanes. By moving along the connecting main lane, a device can move from one inter-crop lane to another. Inter-crop lanes can extend on both sides of the connecting main lane. In embodiments, the service-cart can move in the connecting main lane, thereby moving from one inter-crop lane to another parallel inter-crop lane.

In an alternative embodiment, the transport-carts are unpowered. The transport-carts can then be collected from the service-cart and returned to the service-cart under the power of the harvesting-cart, to which one or more service-carts are coupled.

In embodiments, the service-cart is arranged to load one or more transport-carts and/or the harvesting-cart. By having a service-cart that can load one or more transport-carts, it is possible to cumulatively collect the harvested crops from neighbouring inter-crops lanes, thereby reducing logistical traffic load. Also, the number of journeys required between the inter-crop lanes and the storage location can be minimized. Accordingly, the service-cart can load carts and carry the loaded carts as the service-cart moves across inter-crops lanes. In embodiments, a service-cart is configured to load a harvesting-cart and/or transport-carts by means of carrying a majority of their weight so that it is able to transport it. By loading the transport-cart and/or the harvesting-cart, the service-cart that is provided with a drive for moving across the inter-crops lanes, the transport-cart and/or harvesting-carts can move across inter-crop lanes without a drive. In particular, transport-cart and/or harvesting-cart can do without passive or active driving and turning to move the cart from a first inter-crop lane to the main connecting lane into a second inter-crop lane. This results in a cost saving for the driving unit of those carts and can result in space saving as steering is not necessary. Also, rail that supports the carts in the inter-crop lane can be disconnected from rails in the main connecting lane. This allows saving expensive railroad switches. The harvesting-cart and/or transport-carts are movable along the inter-crop lanes, e.g. using wheels. By loading the respective cart onto the service cart, the service cart supports the weight of the harvesting-cart and/or transport-carts and thereby the service-cart controls the movement of those carts along the main connecting lane across different inter-crop lanes. In embodiments, a loaded carts can still be partially supported by its wheels.

Loading of cart(s) onto the service-cart addresses the issue of high complexity when implementing harvesting systems in greenhouses or other locations where crops are harvested from plants that lack existing infrastructure for accommodating harvesting systems. Known systems, which have (cascades) of cart(s) navigating from one inter-crop lane to another inter-crop lane, often require complex mapping- and motion planning algorithms that may impose large hurdles for implementation. In embodiments of the invention these hurdles are removed by limiting the degrees of freedom of the harvesting-carts and transport-carts to only include a path from the start of a single inter-crop lane to its end.

To allow harvesting-carts and/or transport-carts to reach other inter-crop lanes, harvesting-carts and/or transport-carts may be loaded onto a service-cart. After loading, the service-cart is then capable of dropping off harvesting-carts and/or transport-carts—collectively or individually—at a desired location. This desired location may be the start or end of an inter-crop lane, or any location in the vicinity of the start or end of the inter-crop lane. Once the service-cart has arrived at the desired location, the harvesting-cart and/or transport-cart that were loaded onto the service-cart may then be unloaded from the service-cart. Once unloaded, the harvesting-carts and/or transport-carts may then proceed with traversing within the inter-crop lane at which they were dropped off.

Another advantage of loading the harvesting-cart and/or a plurality of transport-carts onto the service-cart is the decreased level of complexity of the power infrastructure of the system and an increased or even unlimited system runtime. Known systems have (cascades) of (harvesting and/or transport) carts navigating from one inter-crop lane to another inter-crop lane, often autonomously and with specialized software for optimal routing. Such systems commonly demand on-board batteries for powering said carts. Although often preferred, these systems are incompatible with wired powering solutions that make use of cables for providing power to carts, as wires are often not long enough to accommodate complex driving paths and may become tangled around corners. However, implementation of wired powering solutions is in fact compatible with the present invention. Namely, the present invention addresses the issue of high complexity of power infrastructures by not requiring service-carts, harvesting-carts and transport-carts to be rotated during use, thereby creating straight and unobstructed paths between service-carts, harvesting-carts, transport-carts, and power sources for wired powering solutions to be successfully implemented.

Service-carts described herein may be equipped with a (spring-driven) reel for housing a power cable that runs to a power source. In turn, the harvesting-cart and/or transport-carts may be powered through a power cable running from the service-cart to the harvesting-cart and/or transport-carts. Harvesting-carts and/or transport-carts may also be powered through a power cable running from the harvesting-carts and/or transport-carts to an external power source. Alternatively, the harvesting-cart and/or transport-carts may be powered by an on-board battery. In some embodiments, this battery may be charged through a powered docking mechanism located on the service cart that is activated when the harvesting-cart and/or transport-carts are loaded onto the loading platform of service-cart.

In embodiments, the loading of the harvesting-cart and/or a plurality of transport-carts onto the service-cart may be achieved by the service-cart lifting, carrying, and/or shovelling the harvesting-cart and/or a plurality of transport-carts. Loading the harvesting-cart and/or a plurality of transport-carts onto the service-cart, allows the harvesting-carts and/or transport-carts to be transported in a direction that lies outside their degrees of freedom without rotating the harvesting-carts and/or transport-carts themselves. After loading, the direction in which the service-cart transports the harvesting-carts and/or transport-carts may be substantially perpendicular to the driving direction of the harvesting-carts and/or transport-carts within the inter-crop lanes.

In embodiments, the service-cart can be provided with a lift for transport-carts and/or for the harvesting cart. By lifting, the service cart picks-up or delivers the carts from or to the (vicinity of) the start or end of inter-crops lanes. For delivering (unloading) or picking-up (loading) a lift is provided. Using the lift, transport-carts and harvesting-carts can be picked up from or delivered at inter-crops lanes.

In embodiments, the service-cart has a loading platform onto which one or more transport-carts and/or the harvesting cart can be loaded. Preferably a loading platform is provided for one harvesting cart and several transport-carts. In embodiments the loading platform comprises several adjacent spots for loading carts. In embodiments, the service cart is provided by a cart-drive for moving one or more loaded carts from one loading spot to another.

To allow loading a cart from the inter-crop lane onto or from the service cart, the service cart has a loading device arranged to load and/or unload in a direction generally perpendicular to the direction of the inter-crop lane. The direction generally perpendicular to the inter-crop lane is the direction of the main connecting lane. This allows loading or unloading the transport-cart or harvesting-cart onto or from the service-cart while maintaining the orientation of transport-cart or harvesting-cart generally aligned with the inter-crop lane. The orientation of the transport-cart or harvesting-cart is also maintained when the service-cart moves across different inter-crops lanes. The loading or unloading direction extends along the direction of the desired inter-crops lane, whereas the movement between inter-crop lanes is generally perpendicular to the loading/unloading direction.

The service-cart may be loaded with a plurality of transport-carts filled with empty crop-containers. When the crop-containers of a transport-cart have been filled with harvested crops, the service-cart can receive the filled transport-cart and immediately provide another transport-cart with empty crop-containers, to the harvesting-cart to allow continued harvesting.

The containers carried by the transport-carts are preferably boxes or crates or any kind of container known in the field of plant harvesting. The containers are generally arranged to be vertically stackable with similar or like containers in a stable manner. In a preferable embodiment, the containers may have handles for manual lifting.

In a preferred embodiment, the detection unit is arranged to identify and select ripe crops. The detection unit may be any unit that is suitable to detect crops and preferably a characteristic associated with a desired level of ripeness. Characteristics such as size, volume, firmness, softness and/or colour, may be considered in this respect.

The detection unit may be based on touchless detection techniques such as laser scan, LIDAR, sonar, radar, infra-red, ultraviolet, or visual spectrum light detection, or any combination of these.

It is preferred that the detection unit is a light sensitive camera unit, sensitive to at least one of the visual, infrared, or ultraviolet spectrums, preferably the visual spectrum. The camera is preferably polychromatic, with sensitivity to at least two of red, green, and blue, but may alternatively be monochromatic, bi-chromatic or tri-chromatic.

Preferably the camera unit defines pre-determined selection criteria for selecting the crops, more preferably wherein the pre-determined selection criteria comprise one or more of the state of ripeness, the level of degradation, and optical characteristics associated with disease or infection; preferably the selection criteria include one or more of: colour, size, aspect ratio and shape.

The detection unit, preferably camera unit, allows for detection and selection of the crops with pre-selected criteria, for example levels of ripeness, degradation, and disease infection. The detection unit, preferably camera unit, preferably comprises at least two separate detectors, preferably cameras, each facing one row of crops, such that the crops on the two rows neighbouring the lane can be simultaneously detected and selected.

The detector system may also comprise stereoscopic detectors, for example stereoscopic cameras. Stereoscopic data may be employed for analysis of shape, surface texture (such as smoothness, roughness, or shape deviations from idealized forms), or other 3D characteristics of a crop. Stereoscopic data may also be 3D employed to analyse and or determine an approach path for a harvesting tool, e.g. a robot and gripper, to pick the crop and manoeuvre it out of the vegetation.

The detection unit may preferably comprise a plurality of detection units, or detection sensors for each detection unit, arranged at different vertical locations for detection of crops at different heights in a row. The provision of detection at different vertical locations allows the harvesting system to harvest from the full height of the crops. For example, three or more detection units may be vertically provided on each side of the harvesting-cart, providing coverage for tall plants. In a preferable embodiment, a user may select the height of the crops, and subsequently the detectors at relevant height may be activated for detection and selection according to the selected height of the crops.

In a preferred embodiment, the harvesting-cart further comprises a temporary storage area for storing one or more of the containers. The temporary storage area of the harvesting-cart is arranged to store one or more empty or filled containers. The containers may be vertically stacked atop each other. The temporary storage area may be arranged to support multiple columns of vertically stacked containers. An empty container can be moved to the collection region for collecting harvested crops picked by the picking unit.

In an embodiment, harvested crop may be transferred directly to the transport-cart without first temporary storage within a temporary storage area of a harvesting-cart.

In a preferred embodiment, the picking unit preferably comprising a robotic arm carrying a picking head or grasping device. The picking head or grasping device may be appropriate to a given crop size, shape and/or fragility. Preferably, multiple picking tools may be provided for each harvesting-cart.

After filling the empty container, the filled container may be moved back to the temporary storage area. Provision of a temporary storage area in the at least one harvesting-cart allows harvesting to proceed without a transport-cart adjoined to the at least one harvesting-cart so that harvesting can proceed while a transport-cart is transported away from or to a harvesting-cart. This may enhance the efficiency of the logistical flow for harvesting because harvesting can continue while a transport-cart of full containers is exchanged for a transport-cart of empty containers.

The harvesting system may preferably further comprise a movement mechanism for the movement of the at least one harvesting-cart, the least one transport-cart, and/or the service-cart. The movement mechanism preferably comprises a plurality of wheels for moving on the ground, on tubes, or on rails installed on the ground. Preferably one or more of the wheels are driven.

By having a plurality of wheels, the harvesting-cart, transport-cart, and service-cart may move on the ground, on the tubes, or on rails installed on the ground. In a preferable embodiment, the movement may be along a guide wire defined on the ground.